Not really - one is always going to be more powerful than the other, even by a slight margin.
First, you want to look at RMS not PMPO, it gives you a much more accurate representation of the power output. A 30w amp will drive 50w speakers quite happily (how loud depends on the sensitivity of the speakers), but the amp will reach its peak sooner than the speakers. When this happens, it will distort which can damage the speakers.
Likewise the other way around.
Simple answer, no, just dont have it so loud that it distorts